Object positioning method, device, equipment and medium

Abstract

The invention belongs to the technical field of machining, and particularly relates to an object positioning method, device and equipment and a medium. According to the object positioning method provided by the invention, the initial image when the to-be-processed object is placed on the processing equipment is acquired, and the processing area is provided with the position mark point and the height mark point around the to-be-processed object; and identifying a position mark point and a height mark point contained in the initial image, determining an initial enclosing area according to the position mark point, and determining the size of the to-be-processed object and the position of the to-be-processed object in the processing area according to the height mark point and the initial enclosing area in the initial image. The size and the position of the to-be-machined object are recognized through the position mark points and the height mark points, recognition and positioning of the to-be-machined object are achieved, and the size of the to-be-machined object is not required.

Description

[0001] This application claims priority to a Chinese patent application filed with the State Intellectual Property Office on June 29, 2023, with application number 2023107925394 and invention name “Object Positioning Method, Device, Terminal and Medium”, all contents of which are incorporated by reference in this application. Technical Field

[0002] The present invention relates to the field of mechanical processing technology, and in particular to an object positioning method, device, equipment and medium. Background Art

[0003] During the machining process, objects need to be identified and positioned to obtain the location of the objects and perform machining. Among them, the existing material identification and positioning method includes fixing a soft pad with a groove at a specific position of the machining format, and placing the object in the groove of the soft pad so that the machining equipment performs machining according to the groove position.

[0004] However, the above method requires preparing a soft pad with a groove corresponding to the shape of different objects, which seriously affects the processing efficiency.

[0005] Therefore, how to optimize the object identification and positioning method is a difficult problem that needs to be solved urgently in the field of mechanical processing technology. Summary of the invention

[0006] The main purpose of the present invention is to provide an object positioning method, device, equipment and medium, which are intended to be used to set position marking points and height marking points inside a machine where objects are placed, and to recognize the shape and position of the object through the position marking points and height marking points, thereby optimizing the object recognition and positioning method and being able to locate objects of various different shapes.

[0007] According to one aspect of an embodiment of the present application, a method for locating an object is disclosed, comprising:

[0008] Acquire an initial image when an object to be processed is placed in a processing area, wherein the processing area is provided with position marking points and height marking points around the object to be processed;

[0009] Identify the position mark point and the height mark point included in the initial image;

[0010] According to the position mark points and the height mark points in the initial image, the size of the object to be processed and the position in the processing area are identified.

[0011] According to one aspect of an embodiment of the present application, an object positioning device is disclosed, comprising:

[0012] An image acquisition module, used to acquire an initial image when an object to be processed is placed in a processing area, wherein the processing area is provided with position marking points and height marking points around the object to be processed;

[0013] A marker point recognition module, used for recognizing the position marker point and the height marker point contained in the initial image;

[0014] The object positioning module is used to identify the size of the object to be processed and the position in the processing area according to the position mark point and the height mark point in the initial image.

[0015] According to one aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the machining method in the above technical solution.

[0016] The object positioning method provided by the present application obtains an initial image of the object to be processed when the processing equipment places the object to be processed by setting position marking points and height marking points around the object to be processed, identifies the position marking points and height marking points contained in the initial image, determines the size and position of the object to be processed according to the position marking points and the height marking points, thereby realizing the recognition and positioning of the object to be processed. Objects to be processed of various shapes can be positioned without setting cushions of different shapes corresponding to objects to be processed of different shapes. The cost is relatively low and the operation is convenient.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A flowchart of the steps of an object positioning method in one embodiment of the present application is shown.

[0020] Figure 2 A schematic diagram showing the effect of setting position marking points in one embodiment of the present application is shown.

[0021] Figure 3A schematic diagram showing the positional relationship between height marking points and position marking points in one embodiment of the present application is shown.

[0022] Figure 4 A schematic diagram showing the second relative position relationship and the third relative position relationship is shown.

[0023] Figure 5 A schematic diagram showing the principle of triangulation ranging principle is shown.

[0024] Figure 6 The structural block diagram of the object positioning device provided in the embodiment of the present application is schematically shown.

[0025] Figure 7 The structure block diagram of a computer system suitable for implementing an electronic device of an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0026] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0027] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0028] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0029] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0030] The following is a detailed description of the technical solutions such as the object positioning method, device, equipment and medium provided by the present application in conjunction with specific implementation methods.

[0031] It should be noted that in the related art, during the laser processing, the object to be processed needs to be identified and positioned first, and the object identification and positioning method includes: fixing a soft pad with a groove at a specific position of the processing format, and placing the object on the groove of the soft pad, so that the processing equipment performs processing according to the groove position. However, the above method requires preparing a soft pad with a groove corresponding to the shape of different objects, which seriously affects the processing efficiency, and the manufacture of soft pads of various specifications also greatly increases the production cost.

[0032] In order to solve the above technical problems, Figure 1 FIG. 1 shows a flowchart of a method for positioning an object in an embodiment of the present application. Figure 1 As shown, the object positioning method can be used for processing equipment or mobile terminals (such as mobile phones, computers), and can mainly include the following steps S100 to S300.

[0033] S100, acquiring an initial image when an object to be processed is placed in a processing area, and position marking points and height marking points are set around the object to be processed in the processing area.

[0034] Specifically, the processing equipment has a processing area, and the processing area includes a processing width and position marking points and height marking points arranged around the processing width. The processing width is the width that can be processed by the processing equipment, and the object to be processed can be placed on the processing width. The position marking points and the height marking points can include two-dimensional codes, logo graphics or other patterns that can be recognized by the machine. The number of position marking points can be multiple, such as two, three, four or more, and the heights of multiple position marking points are the same. Multiple position marking points can be enclosed to form a uniquely determined graphic. The heights of the position marking points and the height marking points are different, and the height of the height marking point can be higher than the position marking point. Among them, the signs (such as patterns, two-dimensional codes, etc.) of the position marking points and the height marking points can be different to distinguish the position marking points from the height marking points. There is at least one height marking point, for example, it can be one, two, three, four or more.

[0035] Compared with the related art in which a soft pad for placing the object to be processed is set on the processing surface, this embodiment sets multiple position marking points and height marking points around the processing surface. When the object to be processed is placed on the processing surface for processing, the processing equipment can determine the size and position of the object to be processed based on the position marking points and height marking points.

[0036] Figure 2 A schematic diagram showing the effect of setting the position marking point is shown.

[0037] like Figure 2As shown, in some embodiments, position marking point 1, position marking point 2 and position marking point 3 of equal height are set around the processing surface, and position marking point 1, position marking point 2 and position marking point 3 are not on a straight line, so that position marking point 1, position marking point 2 and position marking point 3 can be enclosed to form a triangle.

[0038] Figure 3 A schematic diagram showing the positional relationship between the height marking points and the position marking points is shown.

[0039] like Figure 3 As shown, there is a difference in height between the height marking point and the position marking point, and the height difference between the height marking point and the position marking point is known.

[0040] The initial image includes the object to be processed, the position mark points and the height mark points. When the object to be processed is placed in the processing area, the initial image can be obtained by photographing the processing area through a photographing device.

[0041] The photographing device can be a camera installed inside the processing equipment, or a handheld photographing device (such as a mobile phone, tablet, camera, etc.). By taking pictures and positioning with the handheld photographing device, processing equipment without a camera can also realize the function of taking pictures and positioning the object to be processed. The execution subject of the object positioning method can be the handheld photographing device itself, or a terminal communicating with the handheld photographing device (such as a laptop computer, desktop computer, etc.), or the processing equipment itself communicating with the mobile phone wirelessly.

[0042] Furthermore, in some embodiments, the initial image includes at least N different position markers, N≥2, and the value of N is related to the direction attribute of the position marker, and the direction attribute is the number of directions indicated by the position marker.

[0043] At least N position markers with different positions are required to enclose a known and unique figure, i.e., an enclosed area. According to the number of directions indicated by the directional attributes of the position markers, the minimum number of position markers required to capture the initial image can be determined so that the initial image can meet the positioning requirements. It can be understood that in mathematical concepts, for points with no directionality or only one directional attribute, at least three non-collinear points are required to determine a plane, while for points with directionality (for example, a point can indicate two or more directions), only two points are required to determine a plane. That is, when each position marker can indicate one direction or cannot indicate a direction, N=3; when each position marker can indicate more than two directions, N=2.

[0044] When the processing equipment is provided with N position marking points, and no redundant marking points are left, the photographing device needs to capture the height marking points and all the position marking points when capturing the initial image. When the processing equipment is provided with M (M>N) position marking points, that is, redundant marking points are left, the photographing device needs to capture the height marking points and at least N position marking points when capturing the initial image, that is, the photographing device can capture the height marking points and all or part of the position marking points.

[0045] S200, identifying position marking points and height marking points included in the initial image.

[0046] Specifically, the initial image can be processed (for example, preprocessing such as denoising and contrast adjustment), and then the position markers and height markers in the initial image can be identified by image recognition and other methods. Specifically, the corresponding position markers and height markers in the initial image can be identified based on the attributes of the position markers (marking patterns, identification codes, etc.) and the attributes of the height markers (marking patterns, identification codes, etc.). For example, when setting position markers and height markers, different identification codes are assigned to the position markers and height markers, and then when identifying the markers, the position markers and height markers can be distinguished based on the identification codes. Different position markers have different attributes to facilitate the distinction between the position markers. For example, Figure 2 As shown, the patterns of position marker 1, position marker 2 and position marker 3 are different. Position marker 1, position marker 2 and position marker 3 can be distinguished based on the patterns, so as to facilitate the subsequent construction of an enclosed area based on the position markers.

[0047] S300, identifying the size of the object to be processed and its position in the processing area according to the position marking points and the height marking points in the initial image.

[0048] The shooting height of the initial image can be confirmed based on the position mark points and height mark points in the initial image. According to the relative position relationship between the object to be processed and the position mark points, the size of the object to be processed and its position in the processing area can be determined in combination with the shooting height.

[0049] In this embodiment, an initial image of the object to be processed is obtained when the object to be processed is placed in the processing area, and position marking points and height marking points are set around the object to be processed. The enclosed area can be determined through the position marking points. The size and position of the object to be processed can be identified based on the relative position relationship between the object to be processed and the initial enclosed image and in combination with the height marking points, which improves the processing efficiency and accuracy to a certain extent, and can position objects to be processed of various shapes without setting cushions of different shapes for objects to be processed of different shapes. The cost is relatively low and the operation is convenient.

[0050] In some embodiments, S300, identifying the size of the object to be processed and the position in the processing area according to the position mark points and the height mark points in the initial image, includes:

[0051] S301, identifying the size and position of the object to be processed in the processing area according to the relative position relationship between the object to be processed and the position marking point, and the relative position relationship between the height marking point and the position marking point in the initial image.

[0052] The height of the camera relative to the position mark point can be calculated based on the relative position relationship between the height mark point and the position mark point. The size and position of the object to be processed can be determined based on the relative position relationship between the object to be processed and the position mark point in the initial image and the height of the camera using principles such as triangulation.

[0053] In some embodiments, step S301 includes the following steps S310 and S320.

[0054] S310: determining an initial enclosed area in the initial image according to position marking points in the initial image.

[0055] All or part of the position marking points in the initial image may be sequentially connected together, and the enclosed area is used as the initial enclosed area. When there are N position marking points in the initial image, the N position marking points may be sequentially connected together, and the enclosed area is used as the initial enclosed area; when there are L (N<L≤M) position marking points in the initial image, at least N position marking points may be sequentially connected together, and the enclosed area is used as the initial enclosed area.

[0056] S320, identifying the size of the object to be processed and its position in the processing area according to the height marking points, the position marking points and the initial enclosed area in the initial image.

[0057] Specifically, based on the relative position relationship between the object to be processed and the initial enclosed area and in combination with the height marking points, the size and position of the object to be processed can be determined through principles such as triangulation, so that the object to be processed can be accurately processed.

[0058] Further, in some embodiments, S320, based on the height marking points in the initial image and the initial enclosed area, identifying the size of the object to be processed and the position in the processing area includes:

[0059] S321, comparing the shape of the initial enclosed area with a preset standard shape to determine image correction parameters;

[0060] S322, correcting the initial image according to the image correction parameters to obtain a corrected image;

[0061] S323, obtaining a target enclosed area formed by a plurality of position marking points in the corrected image;

[0062] S324, identifying the size of the object to be processed and its position in the processing area according to the position marking points, height marking points and the target enclosed area in the calibration image.

[0063] Specifically, due to the problem of "near objects appear larger and far objects appear smaller" caused by different shooting angles and lens distortion, the shape of the initial enclosed area in the initial image will be affected by the shooting angle and distortion of the initial image and will be greatly different from the actual enclosed shape (i.e., geometric distortion). In order to reduce the geometric distortion caused by the shooting angle and make the position and proportion of the objects in the image more accurate, the initial image can be corrected.

[0064] The shape of the initial enclosed area can be compared with the preset standard shape to determine the image correction parameters. The image correction parameters are used to correct the initial image, eliminate the problem of geometric distortion, and make the initial image more accurate. The initial image can be corrected according to the image correction parameters to obtain a corrected image. For example, the initial image can be corrected using a geometric correction-related algorithm to obtain a corrected image. Among them, the preset standard shape can be the shape of a preset enclosed area formed by the corresponding position mark points inside the machine at a frontal view, which can be preset in the memory; or, a preset image can be obtained by photographing the inside of the machine at a preset view by a photographing device, and the corresponding position mark points in the preset image are enclosed to form a preset enclosed area. The preset view can be a frontal view, or it can be set to other view according to the processing scene.

[0065] After obtaining the corrected image, the position marking points and height marking points in the corrected image can be identified, and then the position marking points can be enclosed to form a target enclosed area. The size and position of the object to be processed can be determined based on the position marking points, height marking points and target enclosed area in the corrected image.

[0066] In this embodiment, the initial image is corrected to obtain a corrected image, and the position marking points in the corrected image are identified to obtain a target enclosed area, so as to ensure that the position of the object to be processed is accurately identified.

[0067] In some embodiments, S324, identifying the size of the object to be processed and its position in the processing area according to the position mark points, height mark points and target enclosed area in the calibrated image, includes the following steps:

[0068] S3241, obtaining a first relative position relationship between a position mark point and a height mark point in a corrected image;

[0069] S3242, calculating a second relative position relationship according to the first relative position relationship, where the second relative position relationship is the distance between the photographing device and the object to be processed in the vertical direction;

[0070] S3243, based on the second relative position relationship and the target enclosed area, identifying the size of the object to be processed and its position in the processing area.

[0071] Specifically, after identifying the position markers and height markers in the corrected image, the first relative position relationship between one or more of the position markers and the height markers can be determined. It should be noted that the first relative position relationship is the pixel distance between the position markers and the height markers in the corrected image.

[0072] Since the first relative position relationship in the images taken at different shooting heights is different, the distance between the shooting device and the processing surface in the vertical direction can be calculated based on the first relative position relationship, the height difference between the position mark point and the height mark point, and the actual distance between the position mark point and the height mark point on the processing surface, using principles such as triangulation. Then, combined with the thickness of the object to be processed, the distance between the shooting device and the object to be processed in the vertical direction, that is, the height of the shooting device relative to the object to be processed, which is also the second relative position relationship, is calculated.

[0073] By correcting the relative position relationship between the target enclosed area and the object to be processed in the image, the approximate area of ​​the object to be processed on the processing surface can be located. Based on the position area on the processing surface in the corrected image and the second relative position, the size of the object to be processed can be calculated using principles such as triangulation, and then the actual shape and position of the object to be processed can be determined.

[0074] In some embodiments, S3242, calculating the second relative position relationship according to the first relative position relationship, includes the following steps:

[0075] Calculating a third relative position relationship based on the first relative position relationship, the third relative position relationship being the distance between the photographing device and the position marking point in the vertical direction, and the position marking point being at the same height as the placement plane on which the object to be processed is placed;

[0076] Obtain the material thickness of the object to be processed;

[0077] The second relative positional relationship is calculated according to the third relative positional relationship and the material thickness.

[0078] The third relative position relationship is the distance between the photographing device and the position marking point in the vertical direction, that is, the height of the photographing device compared to the processing format. Figure 4A schematic diagram between the second relative position relationship and the third relative position relationship is shown, in which the shooting point X is the shooting point of the camera, point A is the position marking point, point C is the height marking point, the position marking point A is set on plane α, and the height marking point C is correspondingly set on plane β, point C' is the projection point of point C on plane α from the perspective of the shooting point X of the camera, and the intersection point of the carrier of the height marking point C and the plane α is point B. Since the position marking point is at the same height as the placement plane where the object to be processed is placed, the difference between the second relative position relationship and the third relative position relationship mainly lies in the thickness of the object to be processed.

[0079] In one embodiment, the third relative position relationship can be calculated based on the first relative position relationship between the position mark point and the height mark point in the calibration image and the height difference between the position mark point and the height mark point by using the principle of triangulation, etc. The material thickness of the object to be processed is known, and the distance between the camera and the position mark point in the vertical direction (i.e., the third relative position relationship) minus the material thickness can be obtained to obtain the distance between the camera and the object to be processed in the vertical direction (i.e., the second relative position relationship), thereby facilitating the identification of the position and size of the object to be processed based on the second relative position relationship and the calibration image.

[0080] The height difference between the position mark point and the height mark point is a predetermined height difference. In some embodiments, calculating the third relative position relationship according to the first relative position relationship includes:

[0081] Obtain the actual relative position relationship between the position mark point and the height mark point in the processing area;

[0082] The third relative position relationship is calculated according to the actual relative position relationship, the first relative position relationship and the predetermined height difference.

[0083] Specifically, in one embodiment, the actual relative position relationship between the position mark point and the height mark point in the processing area is known, and the third relative position relationship is calculated based on the actual relative position relationship, the first relative position relationship and the predetermined height difference based on the principle of triangulation. For example, the focal length corresponding to the initial image captured by the camera device can be obtained, and the angle difference between the position mark point and the height mark point when the camera device is imaging can be calculated based on the first relative position and the focal length. The principle of similar triangles is applied, and the actual relative position relationship, the predetermined height difference and the angle difference between the position mark point and the height mark point can be combined to obtain the shooting height of the camera from the position coordinate point (i.e., the third relative position relationship).

[0084] In some embodiments, the actual relative position relationship between one of the position marking points and the height marking point can be obtained, the first relative position relationship between the corresponding one of the position marking points and the height marking point in the corrected image can be obtained, and then the similar triangle principle can be applied to calculate the third relative position relationship. In other embodiments, the actual relative position relationship between multiple position marking points (such as two, three, etc.) and the height marking point can be obtained, the first relative position relationship between the corresponding multiple position marking points and the height marking point in the corrected image can be obtained, and then the similar triangle principle can be applied to calculate the third relative position relationship, and the third position relationship obtained by combining the actual spatial position relationship and relative position relationship between the multiple position marking points and the height marking points is more accurate.

[0085] As an optional implementation, Figure 5 The schematic diagram of the principle of triangulation distance measurement is shown in FIG. Figure 5 As shown, it includes shooting point X, shooting point Y, plane α, plane β, position mark point A, and height mark point C. There is a height difference between height mark point C and position mark point A.

[0086] Among them, the position mark point A is set on plane α, and the height mark point C is correspondingly set on plane β. The intersection point of the carrier of the height mark point C and the plane α is point B, which is offset by 200mm compared to the position mark point A. The shooting point X and the shooting point Y can be used as the location of the shooting equipment, and the distances between them and plane α are 100mm and 200mm respectively. Since the height mark point C is 20mm higher than plane α, when plane α is photographed at different heights, the projection point of the height mark point C on plane α is different. Therefore, the shooting height can be measured according to the distance between the height mark point C and the position mark point A in the captured image, the distance between point B and the position mark point A, the height of the height mark point C, and the actual distance between the height mark point C and the position mark point A in the processing area using the triangulation principle. For example, combined with Figure 5 When shooting from shooting point X, the distance between position marker point A and point B: the distance between position marker point A and projection point C1 of height marker point C on plane α = 200:250; when shooting from shooting point Y, the distance between position marker point A and point B: the distance between position marker point A and projection point C2 of height marker point C on plane α = 200:222.22; when shooting at different heights, the distance between position marker point A and height marker point C in the corresponding image is different, while the distance between position marker point A and point B changes proportionally with the shooting height. On this basis, the shooting height can be calculated by applying the principle of triangulation.

[0087] In some embodiments, based on the second relative position relationship and the target enclosed area, identifying the size and position of the object to be processed includes the following steps:

[0088] According to the second relative position relationship and the relative position relationship between the object to be processed and the target enclosed area in the correction image, the size of the object to be processed and the position in the processing area are identified by using the triangulation principle.

[0089] Specifically, the size of the object to be processed can be determined based on the relative position relationship between the edge of the object to be processed and the target graphic. Combined with the second relative position relationship, the size of the object to be processed can be calculated using principles such as triangulation. Based on the second relative position relationship and the relative relationship between the target enclosed area and the edge of the object to be processed, the position of the object to be processed in the processing format can be determined.

[0090] Furthermore, based on the above embodiments, initial images taken at different shooting points can be obtained, and the above steps S100 to S300 can be executed accordingly. The size and position of the object to be processed can be determined based on multiple initial images, and multiple confirmation results can be combined. The object shape data and object position data finally obtained are relatively more accurate and have a higher fault tolerance rate.

[0091] The following introduces an apparatus embodiment of the present application, which can be used to execute the object positioning method in the above-mentioned embodiment of the present application. Figure 6 The structure block diagram of the object positioning device provided in the embodiment of the present application is schematically shown. Figure 6 As shown, the object positioning device 600 includes:

[0092] An image acquisition module 610 is used to acquire an initial image when an object to be processed is placed in a processing area, and the processing area is provided with basic marking points around the object to be processed, including position marking points and height marking points;

[0093] A marker recognition module 620 is used to recognize position markers and height markers included in the initial image;

[0094] The object positioning module 630 is used to identify the size of the object to be processed and its position in the processing area according to the position marking points and height marking points in the initial image.

[0095] Furthermore, in some embodiments, the object positioning module 630 includes:

[0096] A determination unit, used to determine an initial enclosed area in the initial image according to position marking points in the initial image;

[0097] The recognition unit is used to determine the size of the object to be processed and its position in the processing area according to the height marking points, the position marking points and the initial enclosed area in the initial image.

[0098] Furthermore, in some embodiments, the identification unit includes:

[0099] An image correction parameter determination subunit is used to compare the shape of the initial enclosed area with a preset standard shape to determine the image correction parameters;

[0100] An image correction subunit, used to correct the initial image according to the image correction parameters to obtain a corrected image;

[0101] A target enclosed area determination subunit is used to obtain a target enclosed area formed by a plurality of position marking points in a corrected image;

[0102] The size and position recognition subunit is used to recognize the size of the object to be processed and its position in the processing area according to the position marking points, height marking points and target enclosed area in the correction image.

[0103] Furthermore, in some embodiments, the size and position identification subunit is configured to:

[0104] Acquire a first relative position relationship between the position marking point and the height marking point in the corrected image;

[0105] Calculating a second relative position relationship according to the first relative position relationship, where the second relative position relationship is the distance between the photographing device and the object to be processed in the vertical direction;

[0106] Based on the second relative position relationship and the target enclosed area, the size of the object to be processed and the position in the processing area are identified.

[0107] Wherein, in some embodiments, the size and position identification subunit is configured as:

[0108] Calculating a third relative position relationship based on the first relative position relationship, the third relative position relationship being the distance between the photographing device and the position marking point in the vertical direction, and the position marking point being at the same height as the placement plane on which the object to be processed is placed;

[0109] Obtain the material thickness of the object to be processed;

[0110] The second relative positional relationship is calculated according to the third relative positional relationship and the material thickness.

[0111] Furthermore, in some embodiments, the shape and position recognition unit is configured to:

[0112] Get the actual relative position relationship between the position mark point and the height mark point in the processing area.

[0113] The third relative position relationship is calculated according to the actual relative position relationship, the first relative position relationship and the predetermined height difference.

[0114] Figure 7The structure block diagram of a computer system for implementing an electronic device according to an embodiment of the present application is schematically shown.

[0115] It should be noted that Figure 7 The computer system 700 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0116] like Figure 7 As shown, the computer system 700 includes a central processing unit 701 (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory 702 (ROM) or the program loaded from the storage part 708 to the random access memory 703 (RAM). Various programs and data required for system operation are also stored in the random access memory 703. The central processing unit 701, the read-only memory 702 and the random access memory 703 are connected to each other through a bus 704. An input / output interface 705 (Input / Output interface, i.e., I / O interface) is also connected to the bus 704.

[0117] The following components are connected to the input / output interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the input / output interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read therefrom is installed into the storage section 708 as needed.

[0118] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 709, and / or installed from the removable medium 711. When the computer program is executed by the central processor 701, various functions defined in the system of the present application are executed.

[0119] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0120] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0121] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0122] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software, or by combining software with necessary hardware. Therefore, the technical solution according to the implementation method of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a touch device, or a network device, etc.) to execute the method according to the implementation method of the present application.

[0123] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application.

[0124] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for locating an object, characterized in that: include: Acquire an initial image when an object to be processed is placed in a processing area, wherein the processing area is provided with position marking points and height marking points around the object to be processed; Identify the position mark point and the height mark point included in the initial image; According to the position mark points and the height mark points in the initial image, the size of the object to be processed and the position in the processing area are identified.

2. The object positioning method according to claim 1, characterized in that: The initial image includes at least N different position marking points, N≥2, and the value of N is related to the direction attribute of the position marking point, and the direction attribute is the number of directions indicated by the position marking point.

3. The object positioning method according to claim 1, characterized in that: The step of identifying the size of the object to be processed and the position of the object in the processing area according to the position mark point and the height mark point in the initial image includes: According to the relative positional relationship between the object to be processed and the position marking point in the initial image, and the relative positional relationship between the height marking point and the position marking point, the size of the object to be processed and the position in the processing area are identified.

4. The object positioning method according to claim 1, characterized in that: The step of identifying the size of the object to be processed and the position of the object in the processing area according to the relative position relationship between the object to be processed and the position mark point in the initial image, and the relative position relationship between the height mark point and the position mark point, comprises: Determine an initial enclosed area in the initial image according to the position marking points in the initial image; According to the relative position relationship between the height mark point and the position mark point in the initial image and the initial enclosed area, the size of the object to be processed and the position in the processing area are identified.

5. The object positioning method according to claim 4, characterized in that: The step of identifying the size of the object to be processed and the position of the object in the processing area according to the relative position relationship between the height mark point and the position mark point in the initial image and the initial enclosed area comprises: Comparing the shape of the initial enclosed area with a preset standard shape to determine image correction parameters; Correcting the initial image according to the image correction parameters to obtain a corrected image; Acquire a target enclosed area enclosed by a plurality of the position marking points in the corrected image; According to the position marking points, the height marking points and the target enclosed area in the calibrated image, the size of the object to be processed and the position in the processing area are identified.

6. The object positioning method according to claim 5, characterized in that: The initial image is obtained by photographing a photographing device, and the size of the object to be processed and the position in the processing area are identified according to the position mark point, the height mark point and the target enclosed area in the corrected image, including: Acquire a first relative position relationship between the position mark point and the height mark point in the corrected image; Calculating a second relative position relationship according to the first relative position relationship, wherein the second relative position relationship is a distance between the photographing device and the object to be processed in a vertical direction; Based on the second relative position relationship and the target enclosed area, the size of the object to be processed and the position in the processing area are identified.

7. The object positioning method according to claim 6, characterized in that: The calculating the second relative position relationship according to the first relative position relationship comprises: Calculating a third relative position relationship according to the first relative position relationship, wherein the third relative position relationship is the distance between the photographing device and the position mark point in the vertical direction, and the position mark point is at the same height as the placement plane on which the object to be processed is placed; Obtaining the material thickness of the object to be processed; The second relative position relationship is calculated according to the third relative position relationship and the material thickness.

8. The object positioning method according to claim 7, characterized in that: The height difference between the position mark point and the height mark point in the processing area is a predetermined height difference, and the calculating of the third relative position relationship according to the first relative position relationship includes: Acquire the actual relative position relationship between the position mark point and the height mark point in the processing area; The third relative position relationship is calculated according to the actual relative position relationship, the first relative position relationship and the predetermined height difference.

9. The object positioning method according to claim 6, characterized in that: The step of identifying the size of the object to be processed and the position of the object in the processing area based on the second relative position relationship and the target enclosed area includes: According to the second relative position relationship and the relative position relationship between the object to be processed and the target enclosed area in the correction image, the size of the object to be processed and the position in the processing area are identified by using the triangulation principle.

10. An object positioning device, characterized in that: include: An image acquisition module, used to acquire an initial image when an object to be processed is placed in a processing area, wherein the processing area is provided with position marking points and height marking points around the object to be processed; A marker point recognition module, used for recognizing the position marker point and the height marker point contained in the initial image; The object positioning module is used to identify the size of the object to be processed and the position in the processing area according to the position mark point and the height mark point in the initial image.

11. An electronic device, characterized in that: The electronic device comprises: a memory, a processor, and an object positioning program stored in the memory and executable on the processor, wherein the object positioning program implements the object positioning method according to any one of claims 1 to 9 when executed by the processor.

12. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the object positioning method according to any one of claims 1 to 9 is implemented.

Images